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accelerometer_calibration fix

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Anton Babushkin
2013-08-26 13:53:42 +02:00
parent 31dcd5a16d
commit 00a2a0370e
1 changed files with 2 additions and 2 deletions
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src/modules/commander/accelerometer_calibration.cpp
+2 -2
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@@ -298,7 +298,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
/* set accel error threshold to 5m/s^2 */ /* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f; float accel_err_thr = 5.0f;
/* still time required in us */ /* still time required in us */
int64_t still_time = 2000000; hrt_abstime still_time = 2000000;
struct pollfd fds[1]; struct pollfd fds[1];
fds[0].fd = sub_sensor_combined; fds[0].fd = sub_sensor_combined;
fds[0].events = POLLIN; fds[0].events = POLLIN;
@@ -342,7 +342,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
t_timeout = t + timeout; t_timeout = t + timeout;
} else { } else {
/* still since t_still */ /* still since t_still */
if ((int64_t) t - (int64_t) t_still > still_time) { if (t > t_still + still_time) {
/* vehicle is still, exit from the loop to detection of its orientation */ /* vehicle is still, exit from the loop to detection of its orientation */
break; break;
} }